Personal tasks of this week:
Task: Changing the simulation time discretization
Definition: Currently, the time discretization for the simulation and the NMPC formulation is the same. Essentially, the next state that the NMPC controller produces is used as the real next state. However, there is a flaw in this design, as the time discretization of the controller is quite large(0.2). This might cause the next state to not actually obey real world physics. To solve this problem, we can change the code such that after the controller produces a control, that is used by the simulator to generate the true next state with a much finer time discretization(0.01)
Completion: I was able to implement this change. The simulation now reflects real world physics much more closely. It also demonstrated that our dynamics derivation and controller design were correct.
Next Steps:
We’ve made some modifications to our schedule and the next step is still to look into ways to formulate the problem in way that is solvable by the circuits we have.
Overall progress assessment:
Schedule is changed, so slightly behind.